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From the error, my first impresion is that the reset is not executed correctly. No core can be found on chain. Reset of the SoC is drive by CPLD on twr board. So, you should have the same behavior of reset on both twr and custom board, after that you can try again the ccs command to check the chain.

While you are looking for an answer for your CMSISDAP related issues, I am just curious why do you prefer CMSISDAP over JTAG. You seemed to have a working JTAG connection so I was wondering what advantage do you see to use CMSISDAP in your case.

2. I have CodeWarrior USB TAP which has label "MPC8360EA-MDS-PB" on the back and I can't get it working with CW 10.0.7 up to 10.0.9. I'm getting "CCSProtocolPlugin : Could not connect to the probe (or other debug link)" although CCS works with it via low-level commands.